bounding_box_to_detected_object::Node Class Reference

#include <bounding_box_to_detected_object_node.h>

Inheritance diagram for bounding_box_to_detected_object::Node:

Collaboration diagram for bounding_box_to_detected_object::Node:

Public Member Functions
	Node (const rclcpp::NodeOptions &)
void	bbox_callback (autoware_auto_msgs::msg::BoundingBoxArray::UniquePtr msg)
	Callback for bounding box data to be converted. Publishes a DetectedObjects message from the bounding box array. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)

Private Attributes
carma_ros2_utils::SubPtr< autoware_auto_msgs::msg::BoundingBoxArray >	bbox_sub_
carma_ros2_utils::PubPtr< autoware_auto_msgs::msg::DetectedObjects >	object_pub_

Detailed Description

Definition at line 28 of file bounding_box_to_detected_object_node.h.

Constructor & Destructor Documentation

Node()

bounding_box_to_detected_object::Node::Node ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 25 of file bounding_box_to_detected_object_node.cpp.

  : carma_ros2_utils::CarmaLifecycleNode(options)
    {
    }

Member Function Documentation

bbox_callback()

void bounding_box_to_detected_object::Node::bbox_callback

(

autoware_auto_msgs::msg::BoundingBoxArray::UniquePtr

msg

)

Callback for bounding box data to be converted. Publishes a DetectedObjects message from the bounding box array.

Parameters

msg	The message to convert and republish

Definition at line 60 of file bounding_box_to_detected_object_node.cpp.

                                                                             {
    autoware_auto_msgs::msg::DetectedObjects objects;
 
    objects.header = msg->header;
    objects.objects.reserve(msg->boxes.size());
 
    for (const auto& bb : msg->boxes) {
      objects.objects.emplace_back(detected_obj_from_bounding_box(bb));
    }
 
    object_pub_->publish(objects);
 
  }

References bounding_box_to_detected_object::detected_obj_from_bounding_box(), and object_pub_.

Referenced by handle_on_configure().

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handle_on_configure()

carma_ros2_utils::CallbackReturn bounding_box_to_detected_object::Node::handle_on_configure

(

const rclcpp_lifecycle::State &

)

Definition at line 30 of file bounding_box_to_detected_object_node.cpp.

                                                                                        {    
 
    // Setup pub/sub
    bbox_sub_= create_subscription<autoware_auto_msgs::msg::BoundingBoxArray>("bounding_boxes",10,
      std::bind(&Node::bbox_callback, this, _1)
    );
 
    object_pub_= create_publisher<autoware_auto_msgs::msg::DetectedObjects>("lidar_detected_objects", 10);
 
    return CallbackReturn::SUCCESS;
  }

References bbox_callback(), bbox_sub_, and object_pub_.

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Member Data Documentation

bbox_sub_

carma_ros2_utils::SubPtr<autoware_auto_msgs::msg::BoundingBoxArray> bounding_box_to_detected_object::Node::bbox_sub_

private

Definition at line 34 of file bounding_box_to_detected_object_node.h.

Referenced by handle_on_configure().

object_pub_

carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::DetectedObjects> bounding_box_to_detected_object::Node::object_pub_

private

Definition at line 37 of file bounding_box_to_detected_object_node.h.

Referenced by bbox_callback(), and handle_on_configure().

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The documentation for this class was generated from the following files:

• object_detection_tracking/include/bounding_box_to_detected_object/bounding_box_to_detected_object_node.h
• object_detection_tracking/src/bounding_box_to_detected_object/bounding_box_to_detected_object_node.cpp